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<a href="#pub-types">Public Types</a> &#124;
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<div class="title">blmc_robots::RealDisentanglementPlatform Class Reference</div>  </div>
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Inheritance diagram for blmc_robots::RealDisentanglementPlatform:</div>
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Collaboration diagram for blmc_robots::RealDisentanglementPlatform:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a577b566061cf78792410aee223c31bb3"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a577b566061cf78792410aee223c31bb3"></a>
typedef Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>Vector</b></td></tr>
<tr class="separator:a577b566061cf78792410aee223c31bb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef std::array&lt; std::shared_ptr&lt; blmc_drivers::MotorInterface &gt;, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Motors</b></td></tr>
<tr class="separator:a1c10113269fd8ee91311693916715269"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad99b6a9825acb4959a082752350e4922"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad99b6a9825acb4959a082752350e4922"></a>
typedef std::array&lt; std::shared_ptr&lt; blmc_drivers::CanBusMotorBoard &gt;, 2 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>MotorBoards</b></td></tr>
<tr class="separator:ad99b6a9825acb4959a082752350e4922"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classblmc__robots_1_1BlmcJointModules"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classblmc__robots_1_1BlmcJointModules')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classblmc__robots_1_1BlmcJointModules.html">blmc_robots::BlmcJointModules&lt; 3 &gt;</a></td></tr>
<tr class="memitem:abaff382c6fd4b494ec0c17498d94919e inherit pub_types_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abaff382c6fd4b494ec0c17498d94919e"></a>
typedef Eigen::Matrix&lt; double, COUNT, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a></td></tr>
<tr class="memdesc:abaff382c6fd4b494ec0c17498d94919e inherit pub_types_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines a static Eigen vector type in order to define the interface. <br /></td></tr>
<tr class="separator:abaff382c6fd4b494ec0c17498d94919e inherit pub_types_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a55599e8ec64aadc0128cf51b334e64f7"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a55599e8ec64aadc0128cf51b334e64f7"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>RealDisentanglementPlatform</b> (const MotorBoards &amp;motor_boards)</td></tr>
<tr class="separator:a55599e8ec64aadc0128cf51b334e64f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15c733975c7ad7ed23c326eaaeebb2ed"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a15c733975c7ad7ed23c326eaaeebb2ed"></a>
Vector&#160;</td><td class="memItemRight" valign="bottom"><b>get_measured_torques</b> () const </td></tr>
<tr class="separator:a15c733975c7ad7ed23c326eaaeebb2ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa14eff2da2f0579b921169b208c5c464"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa14eff2da2f0579b921169b208c5c464"></a>
Vector&#160;</td><td class="memItemRight" valign="bottom"><b>get_measured_angles</b> () const </td></tr>
<tr class="separator:aa14eff2da2f0579b921169b208c5c464"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a852be44eb833ed38277c5d0913f8bb05"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a852be44eb833ed38277c5d0913f8bb05"></a>
Vector&#160;</td><td class="memItemRight" valign="bottom"><b>get_measured_velocities</b> () const </td></tr>
<tr class="separator:a852be44eb833ed38277c5d0913f8bb05"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3903515a3dd7b1a6860b9bd5dbda1add"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3903515a3dd7b1a6860b9bd5dbda1add"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>pause_motors</b> ()</td></tr>
<tr class="separator:a3903515a3dd7b1a6860b9bd5dbda1add"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afcf20641b6003d9f1089a3854b5b3a3a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1RealDisentanglementPlatform.html#afcf20641b6003d9f1089a3854b5b3a3a">wait_for_execution</a> () const </td></tr>
<tr class="separator:afcf20641b6003d9f1089a3854b5b3a3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classblmc__robots_1_1BlmcJointModules"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classblmc__robots_1_1BlmcJointModules')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classblmc__robots_1_1BlmcJointModules.html">blmc_robots::BlmcJointModules&lt; 3 &gt;</a></td></tr>
<tr class="memitem:a74910d81a89f9b1713ce8fecc69191fe inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#a74910d81a89f9b1713ce8fecc69191fe">BlmcJointModules</a> (const std::array&lt; std::shared_ptr&lt; blmc_drivers::MotorInterface &gt;, COUNT &gt; &amp;motors, const <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> &amp;motor_constants, const <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> &amp;gear_ratios, const <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> &amp;zero_angles, const <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> &amp;max_currents)</td></tr>
<tr class="memdesc:a74910d81a89f9b1713ce8fecc69191fe inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new BlmcJointModules object.  <a href="#a74910d81a89f9b1713ce8fecc69191fe">More...</a><br /></td></tr>
<tr class="separator:a74910d81a89f9b1713ce8fecc69191fe inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4c700a8d346ceaebece38928b5e7ca6 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af4c700a8d346ceaebece38928b5e7ca6"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#af4c700a8d346ceaebece38928b5e7ca6">BlmcJointModules</a> ()</td></tr>
<tr class="memdesc:af4c700a8d346ceaebece38928b5e7ca6 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new BlmcJointModules object. <br /></td></tr>
<tr class="separator:af4c700a8d346ceaebece38928b5e7ca6 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a905addfe3271be5bc88bd785c5cbb032 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#a905addfe3271be5bc88bd785c5cbb032">set_motor_array</a> (const std::array&lt; std::shared_ptr&lt; blmc_drivers::MotorInterface &gt;, COUNT &gt; &amp;motors, const <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> &amp;motor_constants, const <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> &amp;gear_ratios, const <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> &amp;zero_angles, const <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> &amp;max_currents)</td></tr>
<tr class="memdesc:a905addfe3271be5bc88bd785c5cbb032 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the motor array, by creating the corresponding modules.  <a href="#a905addfe3271be5bc88bd785c5cbb032">More...</a><br /></td></tr>
<tr class="separator:a905addfe3271be5bc88bd785c5cbb032 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a26d4d675142bc783c1f983d135a41a09 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a26d4d675142bc783c1f983d135a41a09"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#a26d4d675142bc783c1f983d135a41a09">send_torques</a> ()</td></tr>
<tr class="memdesc:a26d4d675142bc783c1f983d135a41a09 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send the registered torques to all modules. <br /></td></tr>
<tr class="separator:a26d4d675142bc783c1f983d135a41a09 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac7dba81727847238fc4c42b7dca6a0ea inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#ac7dba81727847238fc4c42b7dca6a0ea">set_torques</a> (const <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> &amp;desired_torques)</td></tr>
<tr class="memdesc:ac7dba81727847238fc4c42b7dca6a0ea inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Register the joint torques to be sent for all modules.  <a href="#ac7dba81727847238fc4c42b7dca6a0ea">More...</a><br /></td></tr>
<tr class="separator:ac7dba81727847238fc4c42b7dca6a0ea inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c71bc7db0ff4cd08bc2686a244caa65 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#a9c71bc7db0ff4cd08bc2686a244caa65">get_sent_torques</a> () const</td></tr>
<tr class="memdesc:a9c71bc7db0ff4cd08bc2686a244caa65 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the previously sent torques.  <a href="#a9c71bc7db0ff4cd08bc2686a244caa65">More...</a><br /></td></tr>
<tr class="separator:a9c71bc7db0ff4cd08bc2686a244caa65 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeefc9487da9aafde41da790968a8165e inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#aeefc9487da9aafde41da790968a8165e">get_measured_torques</a> () const</td></tr>
<tr class="memdesc:aeefc9487da9aafde41da790968a8165e inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the measured joint torques.  <a href="#aeefc9487da9aafde41da790968a8165e">More...</a><br /></td></tr>
<tr class="separator:aeefc9487da9aafde41da790968a8165e inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af739948e89e5192eb853c7c5dcb9e87f inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#af739948e89e5192eb853c7c5dcb9e87f">get_measured_angles</a> () const</td></tr>
<tr class="memdesc:af739948e89e5192eb853c7c5dcb9e87f inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the measured joint angles.  <a href="#af739948e89e5192eb853c7c5dcb9e87f">More...</a><br /></td></tr>
<tr class="separator:af739948e89e5192eb853c7c5dcb9e87f inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a87320890796f67050faa4fa506d5142d inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#a87320890796f67050faa4fa506d5142d">get_measured_velocities</a> () const</td></tr>
<tr class="memdesc:a87320890796f67050faa4fa506d5142d inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the measured joint velocities.  <a href="#a87320890796f67050faa4fa506d5142d">More...</a><br /></td></tr>
<tr class="separator:a87320890796f67050faa4fa506d5142d inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc94960666d33b6a5071d4cf25f7794d inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abc94960666d33b6a5071d4cf25f7794d">set_zero_angles</a> (const <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> &amp;zero_angles)</td></tr>
<tr class="memdesc:abc94960666d33b6a5071d4cf25f7794d inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the zero_angles.  <a href="#abc94960666d33b6a5071d4cf25f7794d">More...</a><br /></td></tr>
<tr class="separator:abc94960666d33b6a5071d4cf25f7794d inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ca83d65d009aaafe4522d431490bb1d inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#a4ca83d65d009aaafe4522d431490bb1d">get_zero_angles</a> () const</td></tr>
<tr class="memdesc:a4ca83d65d009aaafe4522d431490bb1d inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the zero_angles.  <a href="#a4ca83d65d009aaafe4522d431490bb1d">More...</a><br /></td></tr>
<tr class="separator:a4ca83d65d009aaafe4522d431490bb1d inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ef05c89eeb1ffde131f44d4f3a300c8 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#a0ef05c89eeb1ffde131f44d4f3a300c8">get_measured_index_angles</a> () const</td></tr>
<tr class="memdesc:a0ef05c89eeb1ffde131f44d4f3a300c8 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the index_angles.  <a href="#a0ef05c89eeb1ffde131f44d4f3a300c8">More...</a><br /></td></tr>
<tr class="separator:a0ef05c89eeb1ffde131f44d4f3a300c8 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada76994634fd0f15fb5df311a61e97d7 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#ada76994634fd0f15fb5df311a61e97d7">set_position_control_gains</a> (size_t joint_id, double kp, double kd)</td></tr>
<tr class="memdesc:ada76994634fd0f15fb5df311a61e97d7 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set position control gains for the specified joint.  <a href="#ada76994634fd0f15fb5df311a61e97d7">More...</a><br /></td></tr>
<tr class="separator:ada76994634fd0f15fb5df311a61e97d7 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a524fd41f808027190d59460a4787aea6 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#a524fd41f808027190d59460a4787aea6">set_position_control_gains</a> (<a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> kp, <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> kd)</td></tr>
<tr class="memdesc:a524fd41f808027190d59460a4787aea6 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set position control gains for all joints.  <a href="#a524fd41f808027190d59460a4787aea6">More...</a><br /></td></tr>
<tr class="separator:a524fd41f808027190d59460a4787aea6 inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab6a642e6939b8587189502e4b179fdcf inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6">HomingReturnCode</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html#ab6a642e6939b8587189502e4b179fdcf">execute_homing</a> (double search_distance_limit_rad, <a class="el" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a> home_offset_rad, double profile_step_size_rad=0.001)</td></tr>
<tr class="memdesc:ab6a642e6939b8587189502e4b179fdcf inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform homing for all joints.  <a href="#ab6a642e6939b8587189502e4b179fdcf">More...</a><br /></td></tr>
<tr class="separator:ab6a642e6939b8587189502e4b179fdcf inherit pub_methods_classblmc__robots_1_1BlmcJointModules"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:af9282c8f77cff5d4a526ef1bad9e6059"><td class="memItemLeft" align="right" valign="top">static MotorBoards&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1RealDisentanglementPlatform.html#af9282c8f77cff5d4a526ef1bad9e6059">create_motor_boards</a> (const std::string &amp;can_0, const std::string &amp;can_1)</td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">static MotorBoards blmc_robots::RealDisentanglementPlatform::create_motor_boards </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>can_0</em>, </td>
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          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>can_1</em>&#160;</td>
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          <td>)</td>
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<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000002">Todo:</a></b></dt><dd>: this is identical to the finger robot and could be taken out of class </dd></dl>

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          <td class="memname">void blmc_robots::RealDisentanglementPlatform::wait_for_execution </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000001">Todo:</a></b></dt><dd>: this needs to be filled in </dd></dl>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li>/workspace/software/workspace/src/catkin/robots/blmc_robots/include/blmc_robots/<a class="el" href="real__disentanglement__platform_8hpp_source.html">real_disentanglement_platform.hpp</a></li>
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